Systems and methods for registering headset system

ABSTRACT

Arrangements described herein relate to systems, apparatuses, and methods for a headset system that includes a transducer, a camera configured to capture image data of a subject, and a controller configured to detect one or more fiducial markers placed on the subject using the captured image data, and register the transducer with respect to the subject based on the detected fiducial markers.

CROSS-REFERENCE TO RELATED PATENT APPLICATION

This application claims priority from Provisional U.S. Application No.62/558,804, filed Sep. 14, 2017, which is incorporated herein byreference in its entirety.

BACKGROUND

Performance of a device (e.g., optical devices, surgical devices,scanning devices, medical diagnostic devices, automated TranscranialDoppler devices, and so on) that is incorporated in a headset system isoptimized based on the device's positioning with respect to a subject'shead. Initial registration (e.g., alignment) of the device with respectto particular areas of the subject's head is important for the device tooperate effectively during its operation. In addition, a technician ofthe headset system performing manual registration of the device mayintroduce human errors such that performance of the device duringoperation is adversely affected. In addition, a technician that ishighly skilled may be needed to properly register the device, which mayimpede efficient and timely administration of health care. As such, itis desirable that a headset system including a device can automaticallyregister the device with respect to a subject's head, with minimalrequired human intervention.

SUMMARY

According to various arrangements, provided are systems and methods thatprovide automated registration of a headset system with respect to asubject. In some arrangements, automated registration minimizes oreliminates the need for a human technician to operate the headsetsystem, which can minimize human error in operating the system and canresult in faster and more efficient execution of operation of theheadset system.

In some arrangements, a headset system, includes a transducer, a cameraconfigured to capture image data of a subject, and a controllerconfigured to detect one or more fiducial markers placed on the subjectusing the captured image data, and register the transducer with respectto the subject based on the detected fiducial markers.

In some arrangements, the transducer is an ultrasound transducer.

In some arrangements, the headset system further includes roboticsconfigured to position the transducer relative to the subject. Thecontroller is configured to register the transducer by positioning thetransducer for operation of the transducer on the subject andrestricting a workspace of the transducer to one or more boundariesduring the operation of the transducer.

In some arrangements, the image data captures the one or more fiducialmarkers disposed on the subject.

In some arrangements, each of the one or more fiducial markers hasretroreflective material capable of reflecting light.

In some arrangements, each of the one or more fiducial markers has aboundary made from a material that reflects less light as compared tothe retroreflective material.

In some arrangements, each of the one or more fiducial markers has afixed size, shape, and design.

In some arrangements, the controller is configured to analyze thecaptured image data by generating one or more binary images from theimage data.

In some arrangements, at least one of the one or more binary images is athreshold-based binary image, and the controller generates thethreshold-based binary image by setting a value of each pixel of theimage data above a predetermined threshold to be a first value andsetting a value of each pixel of the image data below the predeterminedthreshold to be a second value.

In some arrangements, at least one of the one or more binary images isan edge detection-based binary image.

In some arrangements, the controller is configured to detect contours inthe one or more binary images, and select fiducial contours from thedetected contours, the fiducial contours being contours of the fiducialmarkers disposed on the subject while the image data is captured.

In some arrangements, each of the contours having an area-to-perimeterratio different from an area-to-perimeter ratio of a perfect circle isrejected.

In some arrangements, each of the contours having an area outside of apredetermined range of values is rejected.

In some arrangements, the one or more binary images includes athreshold-based binary image and an edge detection-based binary image.At least one of the detected contours is present in both thethreshold-based binary image and the edge detection-based binary image.The at least one of the detected contours is selected to be the fiducialcontours.

In some arrangements, the controller is configured to determine alocation of each of the fiducial markers based on optical parameters ofthe camera and a predetermined size of each of the fiducial markers.

In some arrangements, the controller is configured to determine that thelocation of each of the fiducial markers falls within a range.

In some arrangements, the controller is configured to analyze thecaptured image data by determining, based on the captured image data,camera coordinates of the one or more fiducial markers placed on thesubject, and transforming the camera coordinates into robot coordinates.The controller is configured to register the transducer based on therobot coordinates.

In some arrangements, the controller is configured to determine anallowable robot workspace based on the detected one or more fiducialmarkers, and determining a path of scanning of the transducer based onthe allowable robot workspace.

In some arrangements, the one or more fiducial markers include twofiducial markers, and the controller is configured to detect the one ormore fiducial markers by identifying candidate regions using the imagedata, sorting the candidate regions into candidate region pairs, anddetermining features for each of the candidate region pairs.

In some arrangements, the controller is configured to detect the one ormore fiducial markers by determining a probability that each of thecandidate region pairs corresponds to the two fiducials, and selectingone of the candidate region pairs having the highest probability ofbeing the two fiducials.

In some arrangements, the candidate regions are identified by aMaximally Stable Extremal Regions (MSER) algorithm, and the image dataincludes two images of a lateral side of the subject from differentperspectives.

In some arrangements, the features include location, size, eccentricity,image intensity, and local texture of each candidate region in each ofthe candidate region pairs.

In some arrangements, the features include spatial relationship betweencandidate regions in each of the candidate region pairs.

In some arrangements, the headset system further includes a device. Thedevice includes a body, the transducer housed by the body, and thecamera housed by the body. The camera is configured to move relative tothe body to capture image data of the subject.

In some arrangements, the camera is configured to extend from the body.

In some arrangements, the camera is rigidly mounted to the body.

In some arrangements, the camera is configured to pivot, rotate, orshift relative to the body.

In some arrangements, the camera includes an illumination sourceconfigured to emit light upon the subject to allow the camera to takeone or more images of the subject.

In some arrangements, the camera is configured to take a first image ofa side of the subject from a first position, and take a second image ofthe side of the subject from a second position different from the firstposition.

In some arrangements, a method for registering a transducer of a headsetsystem with respect to a subject includes capturing image data of thesubject, detecting one or more fiducial markers placed on the subjectusing the captured image data, and registering the transducer withrespect to the subject based on the detected fiducial markers.

In some arrangements, a non-transitory computer-readable medium havingcomputer-readable instructions, such that when executed, causes aprocessor of a headset system to register a transducer of the headsetsystem by configuring a camera to capture image data of the subject,detecting one or more fiducial markers placed on the subject using thecaptured image data, and registering the transducer with respect to thesubject based on the detected fiducial markers.

BRIEF DESCRIPTION OF THE FIGURES

Features, aspects, and advantages of the present disclosure will becomeapparent from the following description and the accompanying examplearrangements shown in the drawings, which are briefly described below.

FIG. 1A illustrates a perspective view of a headset system including adevice according to various arrangements.

FIG. 1B illustrates a perspective view of the headset system illustratedin FIG. 1A without the device according to various arrangements.

FIG. 2A, FIG. 2B, and FIG. 2C illustrate various views of the headsetsystem illustrated in FIGS. 1A and 1B with a patient's head thereinaccording to various arrangements.

FIG. 3A illustrates a perspective view of a device included in a headsetsystem according to various arrangements.

FIG. 3B illustrates a front view of the device illustrated in FIG. 3Aaccording to various arrangements.

FIG. 3C illustrates a transparent perspective view of the deviceillustrated in FIG. 3A according to various arrangements.

FIG. 3D illustrates a transparent front view of the device illustratedin FIG. 3A according to various arrangements.

FIG. 4 illustrates a block diagram of a headset registration systemaccording to various arrangements.

FIG. 5A illustrates an image taken by a camera of a device according tovarious arrangements.

FIG. 5B illustrates a binary image after the image shown in FIG. 5Aundergoes image processing according to various arrangements.

FIG. 6 illustrates a three-dimensional view of a spatial relationshipbetween a camera, a virtual image of the camera, and a fiducialaccording to various arrangements.

FIG. 7 is a flowchart diagram illustrating an example method forregistering a probe of a headset system with respect to a subjectaccording to various arrangements.

FIG. 8 is a flowchart diagram illustrating an example method fordetermining a fiducial pair according to various arrangements.

DETAILED DESCRIPTION

The detailed description set forth below in connection with the appendeddrawings is intended as a description of various configurations and isnot intended to represent the only configurations in which the conceptsdescribed herein may be practiced. The detailed description includesspecific details for providing a thorough understanding of variousconcepts. However, it will be apparent to those skilled in the art thatthese concepts may be practiced without these specific details. In someinstances, well-known structures and components are shown in blockdiagram form in order to avoid obscuring such concepts.

In the following description of various arrangements, reference is madeto the accompanying drawings which form a part hereof and in which areshown, by way of illustration, specific arrangements in which thearrangements may be practiced. It is to be understood that otherarrangements may be utilized, and structural changes may be made withoutdeparting from the scope of the various arrangements disclosed in thepresent disclosure.

FIG. 1A illustrates a perspective view of a headset system 100 includinga device 130 according to various arrangements. FIG. 1B illustrates aperspective view of the headset system 100 illustrated in FIG. 1Awithout the device 130 according to various arrangements. FIG. 2A, FIG.2B, and FIG. 2C illustrate views of the headset system 100 illustratedin FIGS. 1A and 1B with a patient's head therein according to variousarrangements.

Referring to FIGS. 1A-2C, in some arrangements, the dynamic headsetsystem 100 includes a head cradle 110, a restraint system 120, thedevice 130, and a device attachment mechanism 140, and a mount 150. Insome arrangements, the cradle 110 is configured to receive and support apatient's head (e.g., during operation of the device 130). The cradle110 is capable of accommodating and supporting different head sizes foruse in conjunction with the device 130. In some arrangements, the cradle110 includes a frame and padding attached to the frame. The framesupports the padding, while the padding is configured to contact a humanhead. In some arrangements, the frame of the cradle 110 is shaped tosuitably contour and support varying head sizes and shapes, and theframe is also shaped to adequately position a user's head in a workspaceof the device 130. In some arrangements, the frame of the cradle 110 ismade from any suitably malleable material that allows for flexing, suchas, but not limited to, flexible plastics, polyethylene, urethanes,polypropylene, ABS, nylon, fiber-reinforced silicones, structural foams,or the like.

In some arrangements, the padding of the cradle 110 is made from anysuitable soft material, such as, but not limited to, closed cell foam,open cell foam, self-skinning open or closed cell foams, cast, aerated,or extruded silicone or urethane, polyurethane gels that are configuredto distribute pressure efficiently, or the like. In some arrangements,the padding of the cradle 110 has any suitable firmness for supporting ahead, such as, but not limited to, in a range of about 0.1 pound persquare inch (psi) to about 60 psi (e.g., in a range of about 0.1 psi toabout 10 psi) or within other suitable ranges of firmness. In somearrangements, the padding of the cradle 110 has memory for expanding tofit contours of a head. In some arrangements, the padding (e.g., foam)of the cradle 110 is compressed and expands after a user's head isplaced in the headset system 100 so that the padding expands to securethe headset apparatus 100. In some arrangements, the cradle 110including the padding is manufactured by any suitable process foraffixing the padding within the headset apparatus 110, such as, but notlimited to, injection molding, laminating, adhesive mounting (e.g.,gluing or bonding), co-molding, co-casting, injection, snapping, byVelcro fastening, by hook and loop fastening, friction fitting,attaching with barbs, using screw bosses, or the like.

In other arrangements, the padding of the cradle 110 includes aninflatable bladder. In some arrangements, the bladder is a hollow voidthat is filled manually or with a pump. In such arrangements, theinflatable bladder is self-inflating with an internal structure that hasa memory and that expands within the bladder to inflate to at least 90%capacity. In other arrangements, the bladder is inflated to othersuitable capacities, such as, but not limited to, at least about 95%capacity, at least about 80% capacity, at least about 70% capacity, andso on. In further arrangements, inflation is assisted with an integratedpump or an external filling or pumping source. In some arrangements, theinflatable bladder is filled with air, gas, liquid, or any othersuitable element for affixing or securing the inflatable padding of theheadset system 100 to a user's head. In other arrangements, the bladderis filled with plastic beads or pellets. In particular arrangements, thebladder that is filled with plastic beads or pellets becomes rigid, soas to capture a patient's head, when a vacuum is applied to the bladder.

In some arrangements, the restraint system 120 is configured to restraina subject's head when placed in the cradle 110. In some arrangements,the restraint system 120 includes a base 121, a body 122, and a contact123. In some arrangements, the base 121 is attached to the mount 150.The body 122 includes an elongated section that is configured to slideinto the base 121, and lock while in the base 121, so as to provideadjustability of the restraint system 120 to accommodate different headsof subjects (e.g., different sizes and shapes). In some arrangements,the contact 123 is attached to the body 122, and the contact 123 isconfigured to contact and apply pressure against a subject's head (e.g.,forehead) for securing the headset system 100 to the subject. In somearrangements, the contact 123 is configured to pivot at a location wherethe contact 123 is attached to the body 122 to provide furtheradjustability for different sized and shaped heads of subjects. Thecontact 123 includes a padding for contacting a subject's head, and thepadding is made from any suitable soft material, such as, but notlimited to, closed cell foam, open cell foam, self-skinning open orclosed cell foams, cast, aerated, or extruded silicone or urethane,polyurethane gels that are configured to distribute pressureefficiently, or the like.

In some arrangements, the device 130 is modular and can be attached anddetached from the headset system 100 via the attachment mechanism 140.In some arrangements, the headset system 100 is used in conjunction witha medical device for use with respect to a user's head (e.g., an ocularmonitoring system, a breathing device, a device for monitoringneurological activity, a surgical device, a device for monitoringradioactive traces, or any other appropriate device). In otherarrangements, the headset system 100 is used in conjunction with anon-medical device for use with respect to a user's head (e.g., avirtual reality eyepiece).

In some arrangements, the device 130 includes a transducer or a probe131 and robotics for controlling the probe 131, collectively referred toas an “instrument.” In that regard, “instrument” as used herein refersto at least one data collection device (e.g., a probe such as but notlimited to, the probe 131) and devices (e.g., positioning componentssuch as but not limited to, the robotics 132) configured to controlposition and operations (e.g., data collection) of the data collectiondevice. For example, the robotics are configured to translate the probe131 along a surface of a head and to move the probe 131 towards and awayfrom the head. In some arrangements, an end of the probe 131 interfaceswith the robotics, and the robotics include components, such as, but notlimited to, a motor assembly and the like for controlling the probe 131(e.g., control z-axis pressure, normal alignment, or the like of theprobe 131). In some arrangements, the registration of the probe 131against a subject's head is accomplished using the robotics to properlyposition and align the probe 131 with the subject's head.

In some arrangements, the probe 131 includes a first end and a secondend that is opposite to the first end. In some arrangements, the firstend includes a concave surface that is configured to be adjacent to orcontact a scanning surface (e.g., a head of a subject). The concavesurface is configured with a particular pitch to focus generated energytowards the scanning surface. In some arrangements, the device 130 is aTranscranial Doppler (TCD) apparatus such that the first end of theprobe 131 is configured to be adjacent to or contact and align along ahuman head (e.g., a side of the human head), and the first end of theprobe 131 is configured to provide ultrasound wave emissions from thefirst end and directed into the human head (e.g., towards the brain). Inthat regard, the probe 131 is an ultrasound probe configured forultrasound procedures. In other arrangements, the probe 131 isconfigured to emit other types of waves during operation, such as, butnot limited to, infrared, x-rays, electromagnetic, thermal,near-infrared, optical, lighting, audio, electroencephalography, or thelike.

In some arrangements, the second end of the probe 131 is coupled to therobotics. In some arrangements, the second end of the probe 131 includesa threaded section along a portion of the body of the probe 131, and thesecond end is configured to be secured in the robotics via the threads(e.g., by being screwed into the robotics). In other arrangements, theprobe 131 is secured in the robotics by any other suitable connectingmeans, such as, but not limited to, welding, adhesive, one or more hooksand latches, one or more separate screws, press fittings, or the like.

Further disclosure regarding probe systems that can be used inconjunction with the headsets described herein can be found innon-provisional patent application Ser. No. 15/399,648, titled ROBOTICSYSTEMS FOR CONTROL OF AN ULTRASONIC PROBE, and filed on Jan. 5, 2017,which is incorporated herein by reference in its entirety.

In some arrangements, the headset system 100 holds other medical andnon-medical devices that are used and registered (e.g., positioned oraligned) with respect to a user's head. For example, in somearrangements, an ocular device is a device that is optimized by beingproperly positioned and aligned with a user's eyes (e.g., if the oculardevice is shifted with respect to a user's eyes, performance of theocular device may decline). In some arrangements, the ocular device isattached at the headset system 100 so as to cover the eyes of a patient.As an example of a non-medical device use with respect to the headsetsystem 100, in some arrangements, the headset system 100 can be used inconnection with the ocular device that is a virtual reality deviceconfigured to provide a virtual experience to the user such that anydisturbance of the positioning of the ocular device in front of theuser's eyes may cause a degradation in the user's virtual experience.

In some arrangements, the ocular device is a medical device designed totrack ocular behavior of a subject (e.g., to diagnose whether the userhas experienced a concussion). In other arrangements, the ocular deviceis an ocular diagnosis or treatment tool for determining or adjustingvision of the user. As an example, the ocular device is a device forcorrecting imperfect vision of a user (e.g., laser eye surgery). Asanother example, in some arrangements, the ocular device is an oculardiagnostic tool for determining a vision prescription of a user,presence of one or more eye conditions (e.g., glaucoma, cataracts,ocular hypertension, uveitis, or the like), and the like. In somearrangements, the ocular device is designed to cover and interact withboth eyes simultaneously or in sequence. In other arrangements, theocular device is designed to cover and interact with a single eye (e.g.,while the other eye remains uncovered).

In some arrangements, the attachment mechanism 140 is configured toreceive and secure the device 130. In other arrangements, the attachmentmechanism 140 is configured to receive and secure other medical andnon-medical devices (e.g., those discussed above). In some arrangements,the attachment mechanism 140 includes a track 141 and a slider 142. Thetrack 141 receives the slider 142 and the slider 142 is adjustable alongthe track 141. For example, the slider 142 can slide within the track141 and can be locked in place at a desired location. In somearrangements, the attachment mechanism 140 includes two sets of thetrack 141 and the slider 142, with each set located at an opposite sideof the headset system 100. Accordingly, in some arrangements, aplurality of devices 130 can be attached at the headset system 100 foroperation with respect to both sides of a subject's head.

In some arrangements, the device 130 is affixed to the slider 142 sothat adjustment of the slider 142 results in adjustment of the device130 with respect to a subject's head (e.g., telescoping adjustmenttowards and away from the subject's head). In some arrangements, thebottom of the device 130 is connected to the slider 142. In particulararrangements, the device 130 is affixed to the attachment mechanism 140by any suitable connection mechanism, such as, but not limited to,welding, adhesive, one or more separate bolts, one or more hooks andlatches, one or more separate screws, press fittings, or the like. Insome arrangements, the attachment mechanism 140 (e.g., the track 141and/or the slider 142) is made from any suitable rigid material, suchas, but not limited to, hard plastic, metals, aluminum, steel, titanium,magnesium, various alloys, rigid plastics, composites, carbon fiber,fiber glass, expanded foam, compression molded foam, stereolithography(SLA) or Fused Deposition Modeling (FDM)-made materials, ReactionInjection Molding (RIM) molding, acrylonitrile butadiene styrene (ABS),thermoplastic olefin (TPO), nylon, polyvinyl chloride (PVC), fiberreinforced resins, or the like.

In some arrangements, the mount 150 is affixed to the restraint system120 (e.g., the base 121), the attachment mechanism 140, and the cradle110. In some arrangements, one or more of the restraint system 120, theattachment mechanism 140, and the cradle 110 are attached to the mount150 via a plurality of screws and/or bolts. In other arrangements, oneor more of the restraint system 120, the attachment mechanism 140, andthe cradle 110 are attached to the mount 150 by any other suitableconnecting means, such as, but not limited to, welding, adhesive, one ormore hooks and latches, press fittings, or the like. In somearrangements, one or more of the restraint system 120, the attachmentmechanism 140, and the cradle 110 are permanently affixed to the mount150. In other arrangements, one or more of the restraint system 120, theattachment mechanism 140, and the cradle 110 are releasably attached tothe mount 150.

In some arrangements, the mount 150 is made from any suitable rigidmaterial, such as, but not limited to, hard plastic, metals, aluminum,steel, titanium, magnesium, various alloys, rigid plastics, composites,carbon fiber, fiber glass, expanded foam, compression molded foam, SLAor FDM-made materials, RIM molding, ABS, TPO, nylon, PVC, fiberreinforced resins, or the like. Further disclosure regarding the cradle,the mount, and other structural components of the system 100 can befound in non-provisional patent application Ser. No. 15/853,433, titledHEADSET SYSTEM, and filed on Dec. 22, 2017, and non-provisional patentapplication Ser. No. 16/101,352, titled DYNAMIC HEADSET APPARATUS, andfiled on Aug. 10, 2018 each of which is incorporated herein by referencein its entirety.

FIG. 3A illustrates a perspective view of a device 330 included in aheadset system according to various arrangements. FIG. 3B illustrates afront view of the device 330 illustrated in FIG. 3A according to variousarrangements. FIG. 3C illustrates a transparent perspective view of thedevice 330 illustrated in FIG. 3A according to various arrangements.FIG. 3D illustrates a transparent front view of the device 330illustrated in FIG. 3A according to various arrangements. Referring toFIGS. 1-3D, the device 330 is an example implementation of the device130.

In some arrangements, the device 330 is configured to be coupled to theattachment mechanism 140 as described above, for use within the headsetsystem 100 (e.g., similar to the device 130). In some arrangements, thedevice 330 includes a transducer or probe 331, a camera 332, androbotics 333. In some arrangements, the probe 331 is similar to theprobe 131, and so the description above with respect to the probe 131 isapplicable to the probe 331. As shown, in some arrangements, the probe331 is coupled to the robotics 333 of the device 330 such that the probe331 is moved along multiple axes (e.g., x-axis, y-axis, and z-axis), asdescribed above.

In some arrangements, the camera 332 is configured to capture one ormore images of a subject's head when the subject's head is placed withinthe headset system 100 (e.g., within the cradle 110). From the capturedone or more images, the subject's head can be registered with respect tothe device 330 (e.g., the device 330 can initially position or align theprobe 331 for subsequent operation of the probe 331 and the device 330on the subject's head, restricting or defining the workspace of theprobe 331 to certain boundaries during operation of probe 331 and thedevice 330, and so on). Further details regarding registration of thedevice 330 is disclosed below.

In some arrangements, the camera 332 is any suitable image capturingmechanism or device for taking images of one or more body parts of thesubject (e.g., a subject's head). Examples of the camera 332 include butare not limited to, a digital camera, a thermal camera, an infraredcamera, a night vision camera, and the like. In some examples, thecamera 332 can have any suitable resolution and focal length forcapturing desired images configured to our can be suitable forregistering a subject's head (e.g., about 5 megapixels and about 4millimeter (mm) focal length). In particular arrangements, theresolution and/or the focal length of the camera 332 is fixed orpredetermined. In other arrangements, the resolution and/or the focallength are variable. In some arrangements, the camera 332 moves (e.g.,extends) from a main body of the device 330 (e.g., a portion of thedevice 330 housing the robotics 333 and the probe 331) and is rigidlymounted to the device 330 (e.g., to a portion of the main body of thedevice 330 configured to extend from the main body). In otherarrangements, the camera 332 is adjustable with respect to the main bodyof the device 330 (e.g., the camera 332 can pivot, rotate, shift, andthe like relative to the main body).

In some arrangements, the camera 332 is positioned or moved (e.g.,extended, pivoted, rotated, or shifted) automatically by a controller (acontroller 408 of FIG. 4) or by an operator manually such thatparticular anatomical locations of a subject's head are within a fieldof view of the camera 332 when the subject's head is held within theheadset system 100, and such that the device 330 or any other portion ofthe headset system 100 does not obstruct the field of view of the camera332. For example, in some arrangements, the subject's tragus and eye areconfigured to be visible to the camera 332 when the subject's head isheld within the headset system 100. In some arrangements, the relativelocation and rotation of the camera 332 relative to the workspace of theprobe 331 and the robotics 333 is a known and fixed parameter that canbe utilized to register the device 330 with respect to a subject's head,as further discussed below. In further arrangements, an exposure time ofthe camera 332 is adjustable (e.g., manually adjustable by an operator).

In some arrangements, the camera 332 includes an illumination source 334configured to emit light to be irradiated upon the subject's head toallow the camera 332 to take one or more images of the subject's head.In some arrangements, the illumination source 334 includes one or moreilluminators (e.g., one or more light-emitting diodes (LEDs), one ormore fluorescent lights, one or more Ballast lights, one or more halogenlights, one or more neon lights, and the like). The illumination source334 includes any desired number of illuminators for suitablyilluminating a subject's head such that the camera 332 can obtain imagesof a subject's head, as described herein. For example, the illuminationsource 334 can include a plurality of illuminators (e.g., two, four,eight, twelve, or more illuminators). In some arrangements, the lightemitted from the illumination source 334 has a suitable wavelength forbeing captured by the camera 332, such as, but not limited to, that ofinfrared light (e.g., light having a wavelength of 850 nanometers (nm)).Accordingly, in some arrangements, the camera 332 is sensitive to lighthaving a wavelength of that of light emitted by the illumination source334 (e.g., the camera 333 is sensitive to infrared light). In somearrangements, the illuminators of the illumination source 334 are safeenough to irradiate light upon eyes of subjects and operators for asuitable amount of time at a suitable distance (e.g., for 1000 secondsat a distance of 50 mm or greater). In other arrangements, noillumination source is needed and the camera 332 (e.g., a night visioncamera, an infrared camera, a thermal camera, and so on) is configuredto capture images of the subject's head without illumination.

In some arrangements, the illumination source 334 includes a printedcircuit board (PCB) on which the illuminators are located. In particulararrangements, the PCB includes an opening for allowing the lens of thecamera 334 to pass therethrough. In some arrangements, the illuminatorsare arranged to be evenly spaced (e.g., in a circular formation) aroundthe lens of the camera 334, and the illuminators are further positionedto be as close as possible to the outer diameter of the lens of thecamera 334. In some arrangements, the brightness of the illuminationsource 334 is adjusted using Pulse Width Modulation (PWM) and can beadjusted by an operator or can be automatically adjusted (e.g., based onbrightness of ambient light). In some arrangements, the illuminators arepowered in an on state when a frame exposure of the camera 334 isactive.

FIG. 4 illustrates a block diagram of a headset registration system 400according to various arrangements. Referring to FIGS. 1A-4, in somearrangements, the headset registration system 400 is an exampleimplementation of the headset system 100 and includes the device 330including the probe 331, the camera 332, and the robotics 333, which aredescribed herein. The headset registration system 400 further includesan input device 402, an output device 404, and a network interface 406.

In some arrangements, the input device 402 includes any suitable deviceconfigured to allow an operator to input information or commands intothe headset registration system 400. In some arrangements, the inputdevice 402 includes, but is not limited to, a keyboard, a keypad, amouse, a joystick, a touchscreen display, or any other input deviceperforming a similar function. In some arrangements, the output device404 includes any suitable device configured to display information,results, messages, and the like to an operator concerning the headsetregistration system 400. In some arrangements, the output device 404includes, but is not limited to, a computer monitor, a printer, afacsimile machine, or any other output device performing a similarfunction. In some arrangements, the input device 402 and the outputdevice 404 are the same device (e.g., a touchscreen display device). Insome arrangements, the network interface 406 is structured for sendingand receiving data over a communication network (e.g., results,instructions, requests, software or firmware updates, and the like).Accordingly, the network interface 406 includes any of a cellulartransceiver (for cellular standards), local wireless network transceiver(for 802.11X, ZigBee, Bluetooth, Wi-Fi, or the like), wired networkinterface, a combination thereof (e.g., both a cellular transceiver anda Bluetooth transceiver), and/or the like.

In some arrangements, the headset registration system 400 includes acontroller 408 for controlling operations, processing data, executinginput commands, providing results, and the like with respect to theheadset registration system 400. For example, the controller 408 isconfigured to receive input data or instructions from the input device402 or the network interface 406, control the device 330 to execute thecommands, receive data from the device 330, provide information to theoutput device 404 or network interface 406, and so on. In somearrangements, the controller 408 includes a processor 408 a, memory 408b, an image processing circuit 408 c, a registration circuit 408 d, asearch parameters circuit 408 e, and a robotics control circuit 408 f.In particular arrangements, the headset system 100 includes a pluralityof cameras 332 (e.g., at each side of the headset system 100) such thatthe headset system 100 is bilateral and such that images of both sidesof a subject's head are captured. In such arrangements, the capturedimages are processed at the single controller 408 (e.g., each of theleft and right images of the subject's head is processed independentlyat the controller 408).

In some arrangements, the processor 408 a is implemented as ageneral-purpose processor and is coupled to at least one memory 408 b.The processor 408 a includes any suitable data processing device, suchas a microprocessor. In the alternative, the processor 408 a includesany suitable electronic processor, controller, microcontroller, or statemachine. In some arrangements, the processor 408 a is implemented as acombination of computing devices (e.g., a combination of a DigitalSignal Processor (DSP) and a microprocessor, a plurality ofmicroprocessors, at least one microprocessor in conjunction with a DSPcore, or any other such configuration). In some arrangements, theprocessor 408 a is implemented as an Application Specific IntegratedCircuit (ASIC), one or more Field Programmable Gate Arrays (FPGAs), aDigital Signal Processor (DSP), a group of processing components, orother suitable electronic processing components.

In some arrangements, the memory 408 b includes a non-transitoryprocessor-readable storage medium that stores processor-executableinstructions. In some arrangements, the memory 408 b includes anysuitable internal or external device for storing software and data.Examples of the memory 408 b can include, but are not limited to, RandomAccess Memory (RAM), Read-Only Memory (ROM), Non-Volatile RAM (NVRAM),flash memory, floppy disks, hard disks, dongles or other Recomp SensorBoard (RSB)-connected memory devices, or the like. The memory 408 b canstore an Operating System (OS), user application software, and/orexecutable instructions. The memory 408 b can also store applicationdata, such as an array data structure. In some arrangements, the memory408 b stores data and/or computer code for facilitating the variousprocesses described herein.

As used herein, the term “circuit” can include hardware structured toexecute the functions described herein. In some arrangements, eachrespective circuit can include machine-readable media for configuringthe hardware to execute the functions described herein. The circuit canbe embodied as one or more circuitry components including, but notlimited to, processing circuitry, network interfaces, peripheraldevices, input devices, output devices, sensors, etc. In somearrangements, a circuit can take the form of one or more analogcircuits, electronic circuits (e.g., integrated circuits (IC), discretecircuits, system on a chip (SOCs) circuits, etc.), telecommunicationcircuits, hybrid circuits, and any other suitable type of circuit. Inthis regard, the circuit can include any type of component foraccomplishing or facilitating achievement of the operations describedherein. For example, a circuit as described herein can include one ormore transistors, logic gates (e.g., NAND, AND, NOR, OR, XOR, NOT, XNOR,etc.), resistors, multiplexers, registers, capacitors, inductors,diodes, wiring, and so on.

The circuit can also include one or more processors communicativelycoupled to one or more memory or memory devices. In this regard, the oneor more processors can execute instructions stored in the memory or canexecute instructions otherwise accessible to the one or more processors.In some arrangements, the one or more processors can be embodied invarious ways. The one or more processors can be constructed in a mannersufficient to perform at least the operations described herein. In somearrangements, the one or more processors can be shared by multiplecircuits (e.g., a first circuit and a second circuit can comprise orotherwise share the same processor which, in some example arrangements,can execute instructions stored, or otherwise accessed, via differentareas of memory). Alternatively, or additionally, the one or moreprocessors can be structured to perform or otherwise execute certainoperations independent of one or more co-processors. In other examplearrangements, two or more processors can be coupled via a bus to enableindependent, parallel, pipelined, or multi-threaded instructionexecution. Each processor can be implemented as one or moregeneral-purpose processors, ASICs, FPGAs, DSPs, or other suitableelectronic data processing components structured to execute instructionsprovided by memory. The one or more processors can take the form of asingle core processor, multi-core processor (e.g., a dual coreprocessor, triple core processor, quad core processor, etc.),microprocessor, etc. In some arrangements, the one or more processorscan be external to the apparatus, for example, the one or moreprocessors can be a remote processor (e.g., a cloud-based processor).Alternatively, or additionally, the one or more processors can beinternal and/or local to the apparatus. In this regard, a given circuitor components thereof can be disposed locally (e.g., as part of a localserver, a local computing system, etc.) or remotely (e.g., as part of aremote server such as a cloud-based server). To that end, a circuit, asdescribed herein can include components that are distributed across oneor more locations.

An example system for implementing the overall system or portions of thearrangements can include a general-purpose computer, including aprocessing unit, a system memory, and a system bus that couples varioussystem components including the system memory to the processing unit.Each memory device can include non-transient volatile storage media,non-volatile storage media, non-transitory storage media (e.g., one ormore volatile and/or non-volatile memories), etc. In some arrangements,the non-volatile media may take the form of ROM, flash memory (e.g.,flash memory such as NAND, 3D NAND, NOR, 3D NOR, etc.), ElectricallyErasable Programmable Read-Only Memory (EEPROM), Magnetoresistive RandomAccess Memory (MRAM), magnetic storage, hard discs, optical discs, etc.In other arrangements, the volatile storage media can take the form ofRAM, Thyristor Random Access Memory (TRAM), Z-Capacitor Random AccessMemory (ZRAM), etc. Combinations of the above are also included withinthe scope of machine-readable media. In this regard, machine-executableinstructions comprise, for example, instructions and data which cause ageneral-purpose computer, special purpose computer, or special purposeprocessing machines to perform a certain function or group of functions.Each respective memory device can be operable to maintain or otherwisestore information relating to the operations performed by one or moreassociated circuits, including processor instructions and related data(e.g., database components, object code components, script components,etc.), in accordance with the example arrangements described herein.

FIG. 5A illustrates an image 500 a, which is an example of an image thatcan be taken by the camera 332 of the device 330 according to variousarrangements.

Referring to FIGS. 1A-5A, in some arrangements, the image processingcircuit 408 c is configured to receive image data taken by the camera332 (e.g., an image depicting a side of a subject's head). For example,the image captured by the camera 332 includes a two-dimensional array ofpixel brightness values. In some arrangements, the subject's head hasfiducial markers (or fiducials) disposed by an operator at anatomicallysignificant locations such that the image includes the subject's headwith the fiducials. In some arrangements, the fiducials are disposed atanatomically significant locations so as to signify the boundaries ofthe workspace of the device 330 during operation, and the fiducials areconfigured to be detected by the image processing circuit 408 c. Inparticular arrangements, the fiducials are disposed at a corner of asubject's eye and at the tragus of the subject. As such, to estimateimage locations of anatomical markers (e.g., ears and eyes) relative tothe probe 331 through detection of fiducials, at least one image perlateral side of the subject's head can be obtained after placement of atleast one fiducial on either lateral side of the subject's head. Inother arrangements, fiducial markers can be any nature anatomy landmarkssuch as but not limited to, the eyes, the nose, the ear, the forehead,the eyebrow, the mouth, the lips, the hairline, the collar bone, thenavel, the nipples, any joints, fingernails, and the like.

The image 500 depicts a first fiducial 502 a and a second fiducial 502b. In some arrangements, any suitable number of fiducials can bedisposed on a subject, such as, but not limited to, one fiducial orthree or more fiducials. In some arrangements, the fiducials 502 a, 502b are adhesive stickers having a fixed, known, or predetermined size,shape, color, and design to allow the controller 408 to identify thefiducials 502 a and 502 b. In some arrangements, all fiducials disposedon the body of the subject have the same size, shape, color, and design.The controller 408 is preprogrammed with the fiducials characteristicssuch as the size, shape, color, and design to identify the fiducialsfrom the captured images. In some arrangements, the fiducials 502 a, 502b include a circular retroreflective material and a surrounding blackring. The circular retroreflective material and the surrounding blackring of each of the fiducials 502 a, 502 b are on a surface opposite ofthe surface on which adhesive is provided, such that the circularretroreflective material and the surrounding black ring are configuredto the camera 332 when the fiducials 502 a, 502 b are placed on the headof the subject. For example, the retroreflective fiducials 502 a, 502 bare capable of reflecting light back to a source of the light (e.g., theillumination source 334) with minimal scattering. As a particularexample, an electromagnetic wavefront incident on the fiducials 502 a,502 b is reflected back along a vector that is parallel to but oppositein direction from the wave's source. In some arrangements, the fiducials502 a, 502 b are consumable or disposable items.

While the fiducials 502 a, 502 b are described to have a circular shape,other shapes such as but not limited to, a square, a rectangle, atriangle, a cross, a star, or another complex design that can be easilydistinguished from other shapes present on the body of the subject bythe controller 408. An example of a complex design is a square within acircle, which is within a triangle.

In some arrangements, the size of the fiducials 502 a, 502 b is a knownand controlled parameter that is utilized by the controller 408 duringimage processing and registration. In some arrangements, each of thefiducials 502 a, 502 b has a distinctive boundary (e.g., a blackboundary) that is made from a material that is not heavily reflective orminimally reflective such that there can be a high contrast between theretroreflective material and its minimally-reflective boundary duringillumination of the subject's head (e.g., by the illumination source334). The boundary is around an outer perimeter of each of the fiducials502 a and 502 b. In some arrangements, each of the fiducials 502 a, 502b includes an adhesive backing for application to a subject's skin suchthat the fiducials 502 a, 502 b sufficiently remain in place duringoperation of the device 330. Similarly, the color, the shape, and designof the fiducials 502 a, 502 b is a known and controlled parameter thatis utilized by the controller 408 during image processing andregistration.

In some arrangements, the image processing circuit 408 c is configuredto process the images taken by the camera 332 (e.g., by detecting thefiducials 502 a, 502 b captured in the image 500 a). In somearrangements, the image 500 a is preprocessed to smooth the image 500 a.For example, a blue filter can be applied to the image 500 a to smoothout the effects of noise that is typically present in a digital image.

In some arrangements, the image processing circuit 408 c is configuredto create one or more binary images from the preprocessed image (e.g.,the digital image). In particular arrangements, a threshold-based binaryimage is created, for example, in which a value of each pixel of theimage 500 a whose brightness is above a predetermined brightnessthreshold is set to 255 and a value of each pixel whose brightness isbelow the predetermined brightness threshold is set to 0. In furtherarrangements, an edge detection-based binary image is created, forexample, by using a Canny edge detection process, in which a pixel ofthe image 500 a is set to a 1 if it lies upon a part of the image 500 arecognized as being an edge in the preprocessed image and a 0 if thepixel is detected as not lying upon an edge. In other arrangements, anysuitable edge detection process can be used to create the edgedetection-based binary image. In some arrangements, the threshold-basedbinary image is created, while the edge detection-based binary image isnot created. In other arrangements, the edge detection-based binaryimage is created, while the threshold-based binary image is not created.In other arrangements, both the threshold-based binary image and theedge detection-based binary image are created.

In some arrangements, the one or more generated binary images arepost-processed. For example, in particular arrangements, a dilationfilter and/or an erosion filter are applied to the binary images suchthat white regions are grown and/or shrunk, respectively, as desired.

In some arrangements, contours within the one or more generated binaryimages are detected, and of the detected contours, those (fiducialcontours) that are proper fiducials are selected. Unselected contoursmay belong to artifacts created by backgrounds of the images or lightreflections on the subject's face. For example, in particulararrangements, each contour is replaced with its convex hull such thatthe contour is a closed shape with a well-defined area, and a best fitellipse is computed for each contour. In some arrangements, differentdetected contours that have best fit ellipses that are the same size andthat have the same center point (e.g., within specified tolerances) areconsolidated and treated as being the same contour. In somearrangements, contours each having a ratio of their area to theirperimeter (e.g., an area-to-perimeter ratio) that differs by aparticular amount from a ratio of the area to perimeter (e.g., anarea-to-perimeter ratio) for a perfect circle are rejected (e.g., if thearea to perimeter ratio of a contour differs by more than apredetermined threshold amount from the area to perimeter ratio for aperfect circle, the contour is rejected). For example, this is becauseeach of the fiducials 502 a, 502 b is known to be implemented as aperfect circle in some arrangements. Similarly, fiducials of othershapes such as but not limited to, a square, a rectangle, a triangle, across, a star, or another complex design can be identified based on anacceptable deviation threshold with respect to each respective shapesimilar to described herein with respect to a perfect circle. In somearrangements, ellipses having an area outside a predetermined range ofvalues are rejected (e.g., a range of values corresponding to the knownareas of the fiducials 502 a, 502 b). In some arrangements, contoursthat have an area that differs by greater than a threshold ratio from anarea of the best fit ellipse are rejected. In some arrangements, any oneor more (or all) of the above-described contour and ellipse rejectionprocesses are utilized.

In some arrangements, contours such as the ellipses (e.g., thefiducials) that are detected as being present in both thethreshold-based binary image and the edge detection-based binary imageare accepted. For example, in particular arrangements, ellipses areidentified as being present in both images if ellipse center points thatare detected in each binary image are determined to be within apredetermined range of one another. Accordingly, in some arrangements,the results of the image processing operation include a collection offeature tuples capturing location and size of pixels of each fiducial inan image.

In some arrangements, the fiducial size to proceed with is selectedbased on the sizes detected in each binary image, for example, in a casewhere the threshold-based binary image and the edge detection-basedbinary image are in conflict regarding fiducial size. In particulararrangements, the fiducials (e.g., sizes of fiducials) of thethreshold-based binary image are always selected. In other arrangements,the fiducials of the edge detection-based binary image are alwaysselected. In yet other arrangements, the smaller-sized fiducials arealways selected, the larger-sized fiducials are always selected, a meanof the differing-sized fiducials are selected, and so on.

FIG. 5B illustrates a binary image 500 b after the image 500 a shown inFIG. 5A undergoes image processing according to various arrangements.Referring to FIGS. 1A-5B, in some arrangements, by utilizing theabove-described image processing techniques, the image processingcircuit 408 c is configured to generate the binary image 500 b thatdistinctly identifies and locates the fiducials 502 a, 502 b.

FIG. 6 illustrates a three-dimensional view of a spatial relationshipbetween the camera 332 (FIG. 3), a virtual image of the camera 332, anda fiducial according to various arrangements.

Referring to FIGS. 1A-6, in some arrangements, the image processingcircuit 408 c is configured to represent locations within an image(e.g., the binary image 500 b) as pixel coordinate values (u, v) withinthe image. In particular arrangements, the top left-hand position of animage is designated as coordinates (0, 0), while the u-coordinate valueincreases along with movement towards the right-hand side of the imageand the v-coordinate value increases along with movement towards thebottom of the image. In other arrangements, any other suitablecoordinate system is used to identify locations within an image (e.g.,(0, 0) can be located at the bottom right-hand corner of the image,while movement towards the left-hand side increases the u-coordinatevalue and movement towards the top of the image increases thev-coordinate value, and so on). In some arrangements, the imageprocessing circuit 408 c transforms these image coordinates intohomogenous camera coordinates using a camera intrinsics matrix andcamera distortion coefficients of the camera 332, which are knownparameters that can be computed based on a camera calibration procedureof the camera 332.

In some arrangements, to convert the homogenous camera coordinates intophysical unit camera coordinates, the image processing circuit 408 c isconfigured to determine a physical unit distance associated with ahomogenous camera coordinate vector. For homogeneous coordinates,location points are considered equivalent up to multiplication by anon-zero scalar, as represented by the following equation, in which{right arrow over (v)}_(cam) is a vector from an origin of the camera332 to a location of a fiducial in a virtual camera image, x is acoordinate value along an x-axis of the virtual camera image, y is acoordinate value along a y-axis of the virtual camera image, and a isthe non-zero scalar:

${\overset{harpoonup}{v}}_{cam} = {{\begin{bmatrix}x \\y \\1\end{bmatrix} \approx {a \cdot \begin{bmatrix}x \\y \\1\end{bmatrix}}} = \begin{bmatrix}{ax} \\{ay} \\a\end{bmatrix}}$

FIG. 6 shows a real-world fiducial 602, a virtual image fiducial 604 ata virtual camera image 606, and a camera origin 608. In somearrangements, {right arrow over (v)}_(cam) represents a vector from thecamera origin 608 to the location of the virtual image fiducial 604 and{right arrow over (v)}_(actual) represents a vector from the cameraorigin 608 to the location of the real-world fiducial 602. In somearrangements, f_(px) represents the focal length of the camera 332(e.g., measured in units of a pixel size of the sensor of the camera332), which is a known parameter. In further arrangements, ϕD_(px)represents a diameter of the virtual image fiducial 604 (e.g., inpixels) and ϕD_(actual) represents a diameter of the real-world fiducial602, which are both known parameters. In some arrangements, z_(actual)represents a distance from the camera origin 608 to the real-worldfiducial 602.

In some arrangements, the image processing circuit 408 c is configuredto determine {right arrow over (v)}_(actual) based on the above equationand the known parameters. For example, in particular arrangements, thevirtual camera image 606 is located at a distance f_(px) from the cameraorigin 608. Accordingly, in some arrangements, using similar triangles,and knowing f_(px), ϕD_(px), and ϕD_(actual), the image processingcircuit 408 c is configured to determine z_(actual). In furtherarrangements, the image processing circuit 408 c is configured tomultiply {right arrow over (v)}_(cam) by a scalar constant such that thez-coordinate component of {right arrow over (v)}_(cam) equalsz_(actual), which results in {right arrow over (v)}_(actual). In otherwords, for example, by multiplying {right arrow over (v)}_(cam) by thescalar constant that results in the z-coordinate component of {rightarrow over (v)}_(actual) being equal to z_(actual), the x-coordinate andthe y-coordinate components of {right arrow over (v)}_(actual) are alsodetermined (e.g., as illustrated by the above equation).

As such, in some arrangements, the image processing circuit 408 c isconfigured to utilize the optical parameters of the camera 332 and theknown size of the fiducial 602 to determine the location of the fiducial602 relative to the camera 332. In further arrangements, the imageprocessing circuit 408 c is configured to apply boundary limits toensure that the detected position of the fiducial 602 falls within areasonable predetermined range of positions relative to the camera 332for actual use.

In some arrangements, the registration circuit 408 d is configured totransform the camera coordinates (e.g., {right arrow over (v)}_(actual))obtained by the image processing circuit 408 c into robot coordinatesfor use by the robotics control circuit 408 f in controlling therobotics 333 for positioning the probe 331 during operation of thedevice 330. In particular arrangements, transformations between thecamera coordinate system and the robot coordinate system are performedusing homogenous coordinates.

In particular arrangements, the registration circuit 408 d stores acoordinate transformer class that stores a relationship between cameracoordinates and robot coordinates (e.g., a coordinate transformationmatrix that is a 4×4 matrix). For example, in some arrangements,positions in camera coordinates are represented as a 3×1 vector (e.g.,{right arrow over (v)}_(actual)), and the registration circuit 408 d isconfigured to convert the 3×1 camera coordinates into a homogenouscoordinate representation by appending a 4^(th) coordinate having avalue of 1 (e.g., [x, y, z] becomes [x, y, z, 1]). In furtherarrangements, the registration circuit 408 d is configured to multiplythe homogenous coordinate-represented camera coordinate vector by thestored coordinate transformation matrix to obtain a homogenous robotcoordinate vector. In some arrangements, the coordinate transformationmatrix that facilitates transformation of camera coordinates into robotcoordinates is of the form:

$\begin{bmatrix}R & t \\0 & 1\end{bmatrix}\quad$In particular arrangements, R is a 3×3 rotation matrix for applying achange in orientation between the camera coordinate system and the robotcoordinate system, and t is a translation between the origin of therobot coordinate system and the camera coordinate system (e.g.,expressed as a 3×1 vector in the robot coordinate system). In somearrangements, the inverse of the coordinate transformation matrix can beutilized to transform the robot coordinates into the camera coordinates.Accordingly, in some arrangements, the registration circuit 408 d isconfigured to utilize the known spatial relationship between the originof the workspace of the robotics 333 and the origin of the camera 332 totransform locations relative to the camera 332 into locations relativeto the robotics 333. In further arrangements, the registration circuit408 d is configured to apply additional boundary limits to ensure thatthe detected positions of the fiducials fall within a reasonable rangeof positions relative to the origin of the workspace of the robotics 333for actual use. In some arrangements, the detected fiducials aredisplayed to an operator for confirmation that the fiducials areproperly detected. For example, one or more of the preprocessed images(e.g., the image 500 a) and the binary images (e.g., the image 500 b)can be displayed by the output device 404. In some examples, theselected contours corresponding to the fiducials can be superimposedonto a preprocessed image to be displayed to the operator. For example,the fiducials 502 a and 502 b as shown in FIG. 5A can be displayed in agraphical state that emphasizes the fiducials 502 a and 502 b byhighlighting the fiducials 502 a and 502 b, adjusting brightness of thefiducials 502 a and 502 b, and the like, such that the operator caneasily see that the contours corresponding to the fiducials 502 a and502 b are correctly recognized. The input device 402 may provide a userinteractive element (e.g., a soft switch, a button, a dial, or the like)to allow the operator to confirm that the fiducials 502 a and 502 b arecorrectly recognized or to reject the selected contours. Responsive todetermining that the operator has confirmed the fiducials 502 a and 502b via the user interactive element, the controller 408 (e.g., theregistration circuit 408 d) is configured to transform the cameracoordinates into robot coordinates for use by the robotics controlcircuit 408 f in controlling the robotics 333 for positioning the probe331 during operation of the device 330 in the manner described.Responsive to determining that the operator has rejected the contoursvia the user interactive element, the fiducial detection method asdescribed herein can be re-run.

In some arrangements, the search parameters circuit 408 e is configuredto generate a search pattern and path of scanning for the probe 331,including identifying an optimal scanning starting position, duringscanning operation of the device 330. The search parameters circuit 408e, in generating the search pattern and path, utilizes the allowablerobot workspace determined by the registration circuit 408 d, asdescribed above. In particular arrangements, the positions of thedetected fiducials are received by the search parameters circuit 408 eas reference points to restrict the search area of the probe 331 and toguide the search. In some arrangements, the search parameters circuit408 e instructs the robotics control circuit 408 f regarding positioningand travel path of the probe 331 during operation of the device 330 sothat the robotics control circuit 408 f can send corresponding controlsignals to the robotics 333 for physically controlling the probe 331.

In summary, in various arrangements, a subject's head having fiducialsattached thereto at anatomically relevant locations is received in theheadset system and one or more images of the subject's head arecaptured. Image processing is utilized to detect the fiducials. In somearrangements, the detected fiducials are displayed to an operator forconfirming that the detected locations of the fiducials are correct. Thelocations of the fiducials in camera coordinates are determined in robotcoordinates within the robot workspace, and search parameters utilizethe positions of the fiducials to restrict travel of the probe (e.g., toavoid certain areas within the robotic workspace) and to select anoptimal position within the workspace to begin scanning by the probe.

Accordingly, in various arrangements, systems and methods forregistering the headset system described herein allows for registrationof a robotic probe with respect to a subject's anatomy (e.g., corner ofthe eye and tragus). In some arrangements, systems and methods describedherein reduce setup time of a headset system in preparation of a scan,while increasing accuracy of scans by repeatable and accuratepositioning of a probe by consistently guiding the probe to scan atanatomically relevant positions. In addition, systems and methodsdescribed herein increase safety of a headset system by explicitlyrestricting movement of the headset system with respect to a subject'sanatomy (e.g., by preventing the probe from travelling beyond locationsanterior from the corner of the eye).

In additional arrangements, systems and methods of registering a headsetsystem can determine from where a signal scanned by a probe isoriginating from based on a current position of the probe in robotcoordinates within the robotic workspace. For example, based on thecurrent position of the probe, the system can determine that the probeis capturing signals originating from the middle cerebral artery (MCA)of the brain.

According to other arrangements, instead of capturing images offiducials positioned on a subject's head and processing the images, asdescribed above, other systems and methods of registering a subject'shead within a headset system can be used. As an example, in somearrangements, a distance from a camera can be established as apredetermined value (e.g., as if imaging a flat surface at a knowndistance). For example, the distance from the camera can be input by anoperator. As such, the operator can simply select one or more points onan image captured by the camera, and the system can determine robotcoordinates of each of the one or more coordinates based on thepredetermined distance from the camera.

In other arrangements, systems and methods of registering a subject'shead within a headset system implement machine vision to automaticallydetect locations of anatomically significant landmarks of a subject'shead (e.g., the corner of the eye and the tragus). For example, themachine vision can utilize machine learning techniques to analyzevarious images of subject heads to train the system in identifying theanatomically significant landmarks. Training sets including images andcorresponding results (e.g., identified landmarks) as determined by ahuman operator can be used to train the artificial intelligence (e.g.,the AI) to identify anatomically significant landmarks. The controller408 can be used to implement a classifier that accepts images of bodyparts of the subject and outputs identified anatomically significantlandmarks. In yet other arrangements, systems include a plurality ofcameras (e.g., two) at a single side of the headset system such thatstereo vision is implemented in determining distances of locations at ahead of a subject (e.g., by taking an image of a single point by twodifferent and physically separate cameras). In particular arrangements,a positioning stage attached to a single camera can be utilized fortaking multiple images of a point to implement stereo vision (e.g., thesingle camera takes a first image, the positioning stage moves thecamera, and the same camera takes a second image). In some arrangements,instead of using the positioning stage, the single camera is attached tothe robotics of the scanning device such that the camera can be movedaround for implementing stereo vision (e.g., along with the probe).

FIG. 7 is a flowchart diagram illustrating an example method 700 forregistering a probe (e.g., the probe 131 of FIGS. 1A and 2B and/or theprobe 331 of FIGS. 3A-4) of a headset system (e.g., the headset system100 of FIG. 1 and/or the headset registration system 400 of FIG. 4) withrespect to a subject according to various arrangements. Referring toFIGS. 1A-7, at 710, image data (e.g., one or more images) of a subjectis captured by one or more cameras (e.g., the camera 332) in the mannerdescribed. At 720, the controller 408 is configured to detect one ormore fiducial markers (e.g., the fiducials 502 a and 502 b) placed onthe subject using the captured image data in the manner described. At730, the controller 408 is configured to register the probe with respectto the subject based on the detected fiducial markers in the mannerdescribed. While a lateral side of the subject is described as a bodypart of interest for the method 700 (e.g., the camera 332 capturesimages of the lateral side of the subject at 710, and the images areanalyzed for registration in the manner described with respect to 720and 730), the method 700 can be implemented with respect to any suitablebody part of the subject. For example, the camera 332 can be positionedat and/or moved relative to any suitable body part, such that the imagesof that body part can be captured by the camera 332 and analyzed in themanner described herein.

FIG. 8 is a flowchart diagram illustrating an example method 800 fordetermining a fiducial pair (e.g., the fiducials 502 a and 502 b)according to various arrangements. Referring to FIGS. 1A-8, the method800 is an example method by which a pair of fiducials (e.g., thefiducials 502 a and 502 b) can be detected at block 720, assuming that apair of fiducials are placed on a lateral side of a head of a subject.

At 810, the controller 408 (e.g., the image processing circuit 408 c) isconfigured to identify candidate regions. In some examples involvingmachine vision, candidate regions (e.g., candidate elliptic regions) c₁,c₂, . . . , c_(n) can be identified using Maximally Stable ExtremalRegions (MSER) algorithm, which accepts as inputs two images of a givenlateral side of the subject's head that are from different viewpoints.An MSER algorithm can be used to detect elliptic regions in images. Asdescribed, a single camera can be moved to take two images of a givenlateral side of the subject's head from different viewpoints.Alternatively, two cameras at different positions (different viewpoints)can each take an image of the lateral side of the subject's head.

In some examples, each candidate region can be represented by a list ofpixels that make up the respective candidate region. In some examples,each candidate region can be approximated by an ellipse obtained throughsuitable fitting algorithms. Some of the candidate regions correspondingto fiducials. Other candidate regions correspond to artifacts created bybackgrounds of the images or light reflections on the subject's face.

At 820, the controller 408 (e.g., the image processing circuit 408 c) isconfigured to sort the identified candidate regions into candidateregion pairs, each candidate region pair includes two candidate regions.For example, all permutations of pairings of the candidate regions canbe determined.

At 830, the controller 408 (e.g., the image processing circuit 408 c) isconfigured to determine features for candidate region pair. The featurescan be a feature of each individual candidate region in the pair, or arelative feature indicative of a relative property of the pair. In somearrangements, each candidate region (e.g., each candidate ellipticregion) can be characterized with one or more of location, size, shape(eccentricity), image intensity, and local texture. Location refers to alocation of a fiducial in the images 500 a and/or 500 b as representedwith the pixel coordinate values (u, v) described herein. Size refers toa total area of an ellipse fitted to a candidate region. Eccentricityrefers to a ratio between lengths of two axes of an ellipse fitted to acandidate region. Intensity refers to an intensity distribution within acandidate region determined using an average value in some examples, andin alternative examples, the intensity distribution within the candidateregion can be determined by using a histogram. In constructing thehistogram, all have the same limits (e.g., minimum and maximum values)and that normalization is applied to pixels inside of the candidateregion. A histogram for each candidate region in the image is generated,where all of those histograms have the same limits. In some examples,intensity surrounding an ellipse corresponding to a candidate region canbe described using an average value or a histogram in the mannerdescribed. An outer region that surrounds the ellipse can be defined byan elliptic ring based on the outer boundary of the inner ellipse andits copy scaled by 175%. That is, in addition to the intensity insidethe ellipse, the intensity of an elliptical annulus or ring of an innermajor axis and a minor axis equal to the major axis and minor axis ofthe elliptical region, respectively. An outer major axis and a minoraxis equal to 175% of the major and minor axes of the elliptical region,respectively. In some examples, an ideal shape of a fiducial is aperfect circle. Given the viewpoint of the camera and theposition/orientation of the subject's head, the perfect circle mayappear as an ellipsoid shape in the images 500 a and/or 500 b. A shapedescriptor (e.g., a general shape descriptor, a shape contextdescriptor, or the like) can be used to capture how close the candidateregion is from an ellipsoid shape. Local texture refers to an appearanceof a candidate region as represented using a texture descriptor. In someexamples, an image gradient is extracted within an ellipse correspondingto the candidate region, where the image gradient can be summarized as ahistogram, for example, using a suitable technique such as but notlimited to, Speeded Up Robust Features (SURF).

In the examples in which two fiducials (e.g., the fiducials 502 a and502 b) are placed on the head of the patient, two fiducials can beassumed to be present in any images captured by the camera (if thecamera is properly position). Features indicative of the relationshipbetween two candidate regions can be used to determine whether a pair ofcandidate regions can be the two fiducials. For example, spatialrelation between two candidate regions or two ellipses correspondingthereof can be used to distinguish the fiducials from artifacts.Relative position refers to a distance and a slope between the twocandidate regions.

At 840, the controller 408 (e.g., the image processing circuit 408 c) isconfigured to determine a probability that each of the candidate regionpairs corresponds to the fiducials placed on the subject. At 850, thecontroller 408 (e.g., the image processing circuit 408 c) is configuredto select the candidate region pair having the highest probability ofbeing the fiducials.

A probabilistic framework can be established to select a pair of thecandidate regions as fiducials based on the features such as but notlimited to, one or more of a location, size, shape, image intensity,local texture, and spatial relationship. For example, the features canbe described in a feature vector with respect to each pair of candidateregions (c_(i), c_(j)), such as but not limited to, in the formF_(i,j)←[features_(i), features_(j), and features_(ij)]. The termfeatures_(ij) refers to relative features such as but not limited to,the spatial relationship (in terms of distance and/or slope) between twocandidate regions. The term features_(i) refers to features (e.g., oneor more of the location, size, shape, image intensity, and localtexture) of a first candidate region of the candidate region pair. Theterm features_(j) refers to features (e.g., one or more of the location,size, shape, image intensity, and local texture) of a second candidateregion of the candidate region pair.

The weights for each of the features (location, size, shape, imageintensity, local texture, and spatial relationship) can be determinedusing machine learning. For example, manually label training set (e.g.,data examples) can be provided to allow the image processing circuit 408c (implementing AI) to learn weights assigned to each of the features. Aprobabilistic mapping for each individual feature can be determinedbased on machine learning. A value of each feature is mapped by aprobabilistic model to output a value that represents how likely thefeature belongs to a fiducial in terms of a probability. Then, theprobability of all features (individual and relative features) arecombined, for example, using a regression model to determine a finalpredicted score for each pair of candidate regions. The pair with thehighest score is selected.

In some arrangements, an example of a probabilistic model for each givenfeature can be a Gaussian distribution model in which mean μ andstandard deviation σ are estimated from the data examples of actualfiducials:

${g(x)} = {\frac{1}{\sqrt[\sigma]{2\pi}}e^{{- \frac{1}{2}}{(\frac{x - \mu}{\sigma})}^{2}}}$In other words, the data examples in the training set can be used todetermine μ and σ. For instance, μ and σ are the mean of that feature inthe training set and the standard deviation in the training set.

In other examples, instead of a Gaussian distribution model, KernelDensity Estimation (KDE) can be used as a probabilistic model for eachgiven feature.

In some examples, the overall probability for a candidate region paircan be determined by combining (e.g., multiplying) the probability foreach feature (individual or relative).

In some examples, all features may not contribute equally to correctprediction. Thus, the features can be weighted, for example, usingregression techniques. In one example, a ridge regression model can beimplemented, where the weights are estimated from examples of labeledregions of actual physically tested examples and from the training dataset. In other examples, kernel ridge regression can be used instead ofthe ridge regression.

While the methods 700 and 800 are described with reference to images(e.g., the images 500 a and 500 b) of lateral sides of a subject's head,the methods 700 and 800 can be implemented with respect to other bodyparts of the subject such as but not limited to, a front side of theface of the subject (e.g., to obtain ultrasound signals of the head ofthe subject), chest (e.g., to obtain ultrasound signals of the heart),torso (e.g., to obtain ultrasound signals of various organs), limbs(e.g., to obtain ultrasound signals of blood flow in the limbs), and soon.

While fiducials (e.g., the fiducials 502 a and 502 b) are described tobe used to facilitate identification of anatomic features of thesubject, the anatomic features can be identified without using anyfiducials. For example, the camera 332 may capture images of body partsof the subject (without any fiducials attached thereto). The controller408 (e.g., the image processing circuit 408 c) can process the capturedimages using suitable image processing and image recognition techniques(e.g., machine vision) to identify objects captured in the images asbody parts of anatomical features of interest.

In other arrangements, any other suitable technique or device forlocating and detecting distances of areas of a subject's head from ascanning device can be implemented during the registration process, suchas, but not limited to, structured light, time of flight cameras, timeof flight sensors, infrared sensors, and so on. For example, in somearrangements, a thermal camera is utilized to take an infrared image ofthe subject's head such that direct visualization of the subject'ssuitable scanning area (e.g., temporal window) is obtained.

In some arrangements, the systems 100 and 400 as described herein isused in conjunction with other diagnostic ultrasound procedures, suchas, but not limited to, needle guidance, intravascular ultrasound (e.g.,examination of vessels, blood flow characteristics, clot identification,emboli monitoring, and so on), echocardiograms, abdominal sonography(e.g., imaging of the pancreas, aorta, inferior vena cava, liver, gallbladder, bile ducts, kidneys, spleen, appendix, rectal area, and so on),gynecologic ultrasonography (e.g., examination of pelvic organs such asuterus, ovaries, Fallopian tubes, and so on), obstetrical sonography,otolaryngological sonography (e.g., imaging of the thyroid (such as fortumors and lesions), lymph nodes, salivary glands, and so on), neonatalsonography (e.g., assessment of intracerebral structural abnormalitiesthrough soft spots of a skull of an infant, bleeds, ventriculomegaly,hyrdrocephalus, anoxic insults, and so on), ophthamological procedures(e.g., A-scan ultrasound biometry, B-scan ultrasonography, and so on),pulmonological uses (e.g., endobronchial ultrasound (EBUS)), urologicalprocedures (e.g., determination of an amount of fluid retained in asubject's bladder, imaging of pelvic organs (such as uterus, ovaries,urinary bladder, prostate, and testicles), and detection of kidneystones), scrotal sonography (e.g., to evaluate testicular pain, identifysolid masses, and so on), musculoskeletal procedures (e.g., examinationof tendons, muscles, nerves, ligaments, soft tissue masses, bonesurfaces, and so on), bone fracture sonography, testing for myopathicdisease, estimating lean body mass, proxy measures of muscle quality(e.g., tissue composition), nephrological procedures (e.g., renalultrasonography), and the like.

In some arrangements, the systems 100 and 400 as described herein isused in conjunction with therapeutic ultrasound procedures, such as, butnot limited to, high-intensity focused ultrasound (HIFU), focusedultrasound surgery (FUS), Magnetic resonance-guided focused ultrasound(MRgFUS), lithotripsy (e.g., breaking up kidney stones, bezoars, gallstones, and the like), targeted ultrasound drug delivery, trans-dermalultrasound drug delivery, ultrasound hemostasis, cancer therapy,ultrasound-assisted thrombolysis, dental hygiene (e.g., cleaning teeth),phacoemulsification, ablation (e.g., of tumors or other tissue),acoustic targeted drug delivery (ATDD), trigger release of drugs (e.g.,anti-cancer drugs), ultrasound-guided treatments (sclerotherapy,endovenous laser treatment, liposuction, and so on), and the like. Insome arrangements, ultrasound is used for physical therapy applications,including, but not limited to, stimulating tissue beneath the skin'ssurface (e.g., by using very high frequency sound waves, such as, as anexample, between about 800,000 Hz and 2,000,000 Hz), treatingmusculoskeletal ailments with ultrasound exposure (e.g., ligamentsprains, muscle strains, tendonitis, joint inflammation, plantarfasciitis, metatarsalgia, facet irritation, impingement syndrome,bursitis, rheumatoid arthritis, osteoarthritis, and scar tissueadhesion), and the like.

The above used terms, including “held fast,” “mount,” “attached,”“coupled,” “affixed,” “connected,” “secured,” and the like are usedinterchangeably. In addition, while certain arrangements have beendescribed to include a first element as being “coupled” (or “attached,”“connected,” “fastened,” etc.) to a second element, the first elementmay be directly coupled to the second element or may be indirectlycoupled to the second element via a third element.

The previous description is provided to enable any person skilled in theart to practice the various aspects described herein. Variousmodifications to these aspects will be readily apparent to those skilledin the art, and the generic principles defined herein may be applied toother aspects. Thus, the claims are not intended to be limited to theaspects shown herein, but is to be accorded the full scope consistentwith the language claims, wherein reference to an element in thesingular is not intended to mean “one and only one” unless specificallyso stated, but rather “one or more.” Unless specifically statedotherwise, the term “some” refers to one or more. All structural andfunctional equivalents to the elements of the various aspects describedthroughout the previous description that are known or later come to beknown to those of ordinary skill in the art are expressly incorporatedherein by reference and are intended to be encompassed by the claims.Moreover, nothing disclosed herein is intended to be dedicated to thepublic regardless of whether such disclosure is explicitly recited inthe claims. No claim element is to be construed as a means plus functionunless the element is expressly recited using the phrase “means for.”

It is understood that the specific order or hierarchy of steps in theprocesses disclosed is an example of illustrative approaches. Based upondesign preferences, it is understood that the specific order orhierarchy of steps in the processes may be rearranged while remainingwithin the scope of the previous description. The accompanying methodclaims present elements of the various steps in a sample order, and arenot meant to be limited to the specific order or hierarchy presented.

The previous description of the disclosed implementations is provided toenable any person skilled in the art to make or use the disclosedsubject matter. Various modifications to these implementations will bereadily apparent to those skilled in the art, and the generic principlesdefined herein may be applied to other implementations without departingfrom the spirit or scope of the previous description. Thus, the previousdescription is not intended to be limited to the implementations shownherein but is to be accorded the widest scope consistent with theprinciples and novel features disclosed herein.

The various examples illustrated and described are provided merely asexamples to illustrate various features of the claims. However, featuresshown and described with respect to any given example are notnecessarily limited to the associated example and may be used orcombined with other examples that are shown and described. Further, theclaims are not intended to be limited by any one example.

The foregoing method descriptions and the process flow diagrams areprovided merely as illustrative examples and are not intended to requireor imply that the steps of various examples must be performed in theorder presented. As will be appreciated by one of skill in the art theorder of steps in the foregoing examples may be performed in any order.Words such as “thereafter,” “then,” “next,” etc. are not intended tolimit the order of the steps; these words are simply used to guide thereader through the description of the methods. Further, any reference toclaim elements in the singular, for example, using the articles “a,”“an” or “the” is not to be construed as limiting the element to thesingular.

The various illustrative logical blocks, modules, circuits, andalgorithm steps described in connection with the examples disclosedherein may be implemented as electronic hardware, computer software, orcombinations of both. To clearly illustrate this interchangeability ofhardware and software, various illustrative components, blocks, modules,circuits, and steps have been described above generally in terms oftheir functionality. Whether such functionality is implemented ashardware or software depends upon the particular application and designconstraints imposed on the overall system. Skilled artisans mayimplement the described functionality in varying ways for eachparticular application, but such implementation decisions should not beinterpreted as causing a departure from the scope of the presentdisclosure.

The hardware used to implement the various illustrative logics, logicalblocks, modules, and circuits described in connection with the examplesdisclosed herein may be implemented or performed with a general purposeprocessor, a DSP, an ASIC, an FPGA or other programmable logic device,discrete gate or transistor logic, discrete hardware components, or anycombination thereof designed to perform the functions described herein.A general-purpose processor may be a microprocessor, but, in thealternative, the processor may be any conventional processor,controller, microcontroller, or state machine. A processor may also beimplemented as a combination of computing devices, e.g., a combinationof a DSP and a microprocessor, a plurality of microprocessors, one ormore microprocessors in conjunction with a DSP core, or any other suchconfiguration. Alternatively, some steps or methods may be performed bycircuitry that is specific to a given function.

In some exemplary examples, the functions described may be implementedin hardware, software, firmware, or any combination thereof. Ifimplemented in software, the functions may be stored as one or moreinstructions or code on a non-transitory computer-readable storagemedium or non-transitory processor-readable storage medium. The steps ofa method or algorithm disclosed herein may be embodied in aprocessor-executable software module which may reside on anon-transitory computer-readable or processor-readable storage medium.Non-transitory computer-readable or processor-readable storage media maybe any storage media that may be accessed by a computer or a processor.By way of example but not limitation, such non-transitorycomputer-readable or processor-readable storage media may include RAM,ROM, EEPROM, FLASH memory, CD-ROM or other optical disk storage,magnetic disk storage or other magnetic storage devices, or any othermedium that may be used to store desired program code in the form ofinstructions or data structures and that may be accessed by a computer.Disk and disc, as used herein, includes compact disc (CD), laser disc,optical disc, digital versatile disc (DVD), floppy disk, and blu-raydisc where disks usually reproduce data magnetically, while discsreproduce data optically with lasers. Combinations of the above are alsoincluded within the scope of non-transitory computer-readable andprocessor-readable media. Additionally, the operations of a method oralgorithm may reside as one or any combination or set of codes and/orinstructions on a non-transitory processor-readable storage mediumand/or computer-readable storage medium, which may be incorporated intoa computer program product.

The preceding description of the disclosed examples is provided toenable any person skilled in the art to make or use the presentdisclosure. Various modifications to these examples will be readilyapparent to those skilled in the art, and the generic principles definedherein may be applied to some examples without departing from the spiritor scope of the disclosure. Thus, the present disclosure is not intendedto be limited to the examples shown herein but is to be accorded thewidest scope consistent with the following claims and the principles andnovel features disclosed herein.

What is claimed is:
 1. A headset system, comprising: a transducer thatcollects ultrasound data from a subject; a camera that captures imagedata of the subject; and a controller that: detects one or more fiducialmarkers placed on the subject using the captured image data; registersthe transducer with respect to the subject based on the detectedfiducial markers by determining a scanning area at the subject that isbounded by the one or more fiducial markers on the subject; andrestricts the transducer from traveling beyond the scanning area whilethe transducer collects the ultrasound data.
 2. The headset system ofclaim 1, wherein the transducer is an ultrasound transducer.
 3. Theheadset system of claim 1, further comprising robotics that position thetransducer relative to the subject, wherein the controller registers thetransducer by positioning the transducer for operation of the transduceron the subject and restricting the scanning area of the transducer toone or more boundaries defined by the one or more fiducial markersduring the operation of the transducer.
 4. The headset system of claim1, wherein the image data captures the one or more fiducial markersdisposed on the subject.
 5. The headset system of claim 4, wherein eachof the one or more fiducial markers has retroreflective material capableof reflecting light.
 6. The headset system of claim 5, wherein each ofthe one or more fiducial markers has a boundary made from a materialthat reflects less light as compared to the retroreflective material. 7.The headset system of claim 4, wherein each of the one or more fiducialmarkers has a fixed size, shape, and design.
 8. The headset system ofclaim 1, wherein the controller analyzes the captured image data bygenerating one or more binary images from the image data.
 9. The headsetsystem of claim 8, wherein at least one of the one or more binary imagesis a threshold-based binary image; and the controller generates thethreshold-based binary image by setting a value of each pixel of theimage data above a predetermined threshold to be a first value andsetting a value of each pixel of the image data below the predeterminedthreshold to be a second value.
 10. The headset system of claim 8,wherein at least one of the one or more binary images is an edgedetection-based binary image.
 11. The headset system of claim 8, whereinthe controller: detects contours in the one or more binary images; andselects fiducial contours from the detected contours, the fiducialcontours being contours of the fiducial markers disposed on the subjectwhile the image data is captured.
 12. The headset system of claim 11,wherein each of the contours having an area-to-perimeter ratio differentfrom an area-to-perimeter ratio of a perfect circle is rejected.
 13. Theheadset system of claim 11, wherein each of the contours having an areaoutside of a predetermined range of values is rejected.
 14. The headsetsystem of claim 11, wherein the one or more binary images comprises athreshold-based binary image and an edge detection-based binary image;at least one of the detected contours is present in both thethreshold-based binary image and the edge detection-based binary image;and the at least one of the detected contours is selected to be thefiducial contours.
 15. The headset system of claim 1, wherein thecontroller analyzes the captured image data by: determining, based onthe captured image data, camera coordinates of the one or more fiducialmarkers placed on the subject; transforming the camera coordinates intorobot coordinates; and the controller registers and restricts thetransducer based on the robot coordinates.
 16. The headset system ofclaim 1, wherein the one or more fiducial markers comprise two fiducialmarkers, and the controller detects the one or more fiducial markers by:identifying candidate regions using the image data; sorting thecandidate regions into candidate region pairs; and determining featuresfor each of the candidate region pairs.
 17. The headset system of claim16, wherein the controller detects the one or more fiducial markers by:determining a probability that each of the candidate region pairscorresponds to the two fiducials; and selecting one of the candidateregion pairs having the highest probability of being the two fiducials.18. The headset system of claim 16, wherein the candidate regions areidentified by a Maximally Stable Extremal Regions (MSER) algorithm, andthe image data comprises two images of a lateral side of the subjectfrom different perspectives.
 19. The headset system of claim 16, whereinthe features comprise location, size, eccentricity, image intensity, andlocal texture of each candidate region in each of the candidate regionpairs.
 20. The headset system of claim 16, wherein the features comprisespatial relationship between candidate regions in each of the candidateregion pairs.
 21. The headset system of claim 1, further comprising adevice, wherein the device comprises: a body; the transducer housed bythe body; and the camera housed by the body, wherein the camera movesrelative to the body to capture image data of the subject.
 22. Theheadset system of claim 21, wherein the camera extends from the body.23. The headset system of claim 21, wherein the camera comprises anillumination source that emits light upon the subject to allow thecamera to take one or more images of the subject.
 24. The headset systemof claim 21, wherein the camera: takes a first image of a side of thesubject from a first position; and takes a second image of the side ofthe subject from a second position different from the first position.25. A method for operating a transducer of a headset system thatcollects ultrasound data from a subject, the method comprising:capturing, by a camera of the headset system, image data of the subject;detecting, by a controller of the headset system, one or more fiducialmarkers placed on the subject using the captured image data;registering, by the controller of the headset system, the transducerwith respect to the subject based on the detected fiducial markers bydetermining a scanning area at the subject that is bounded by the one ormore fiducial markers on the subject; and restricting, by the controllerof the headset system, the transducer from traveling beyond the scanningarea while the transducer collects the ultrasound data.
 26. Anon-transitory computer-readable medium having computer-readableinstructions, such that when executed, causes a processor of a headsetsystem to operate a transducer of the headset system that collectsultrasound data from a subject by: configuring a camera to capture imagedata of the subject; detecting one or more fiducial markers placed onthe subject using the captured image data; registering the transducerwith respect to the subject based on the detected fiducial markers bydetermining a scanning area at the subject that is bounded by the one ormore fiducial markers on the subject; and restricting the transducerfrom traveling beyond the scanning area while the transducer collectsthe ultrasound data.
 27. The headset system of claim 1, wherein the oneor more fiducial markers comprise at least two fiducial markers and thecontroller restricts the transducer from traveling beyond the at leasttwo fiducial markers during operation of the headset system.
 28. Theheadset system of claim 1, wherein the transducer and the at least onefiducial marker contact a same surface of the subject.
 29. The headsetsystem of claim 11, wherein the controller determines a location of eachof the fiducial markers based on optical parameters of the camera and apredetermined size of each of the fiducial markers.